Ask Your Question

Revision history [back]

Why is there a Twist in Odometry message


Everything basically is in the title. I've been here and I know it's position and speed of the robot. But I'm wondering why you need the speed in the Odometry as it's going to be the exact same thing as the cmd_vel topic.

For example if I'm doing a motor driver taking a Twist as input, should I return the exact same Twist in the /Odometry message afterward ? It seems rather useless to me and I feel like I'm missing something but I don't know what.